JP5909150B2 - Control device for driving device - Google Patents

Description

  In the present invention, the driving force of each actuator is adjusted so that the driven body is driven by an amount corresponding to the total of the driving amounts of the first and second actuators, the driven body driven by them, and the driving amount of each actuator. The present invention relates to a drive control device including a power transmission mechanism for transmitting to a driven body.

  Conventionally, by driving one driven body with two actuators, even if one actuator fails, the driven body may continue to be driven with the other actuator.

  In this case, the drive amount of the actuator is changed between when the actuator is normal and when it fails. When both actuators are operating normally, each actuator drives the driven body by a driving amount that is half the total driving amount indicated by the command value. Thus, the driven body is driven by the total drive amount indicated by the command value. When one actuator fails, the other actuator drives the driven body by the total drive amount indicated by the command value.

In order to realize such control, in Patent Document 1, the configuration of FIG. 1 is used as follows.
(1) and the drive amount _{E f1} of the first motor (actuator) 61 to detect a drive amount _{E f2} of the second motor (actuator) 63, further, first from the detection value of the drive amount of the driven body The total drive amount E _f of the second motors 61 and 63 is detected.
(2) The first multiplication unit 65a uses a value E _d1 obtained by multiplying the command value (position command value in FIG. 1) E _p by the gain G ₁ (= ΔE _f1 / ΔE _f ), and the first subtraction unit 67a. The second multiplier 65b outputs a value E _d2 obtained by multiplying the command value E _p by the gain G ₂ (= ΔE _f2 / ΔE _f ) to the second subtractor 67b. Here, the symbol Δ means the amount of change (time change rate) of E _f , E _f1 , E _f2 .
(3) The first subtraction unit 67a outputs the difference between E _d1 and E _f1 to the first control unit 69a, and the second subtraction unit 67b _calculates the difference between E _d2 and E _f2 to the second It outputs to the control part 69b.
(4) The first control unit 69a drives the first motor 61 by the amount indicated by (E _d1 -E _f1 ), and the second control unit 69b sets the amount indicated by (E _d2 -E _f2 ). The second motor 63 is driven.
Thereafter, the above (1) to (4) are repeated.

Thus, when the motors 61 and 63 are normal, the motors 61 and 63 are driven by the same amount, so that E _f1 and E _f2 are equal. Therefore, since E _f is the sum of E _f1 and E _f2 , G ₁ (= ΔE _f1 / ΔE _f ) and G ₂ (= ΔE _f2 / ΔE _f ) are both halved. Accordingly, by both the first and second motors 61 and 63, the driven member is driven to the position indicated by the E _p.

On the other hand, when the first motor 61 fails and stops moving, ΔE _f has the same value as ΔE _f2 , so G ₂ (= ΔE _f2 / ΔE _f ) becomes 1. Thus, the second motor 63, the driven member is driven to the position indicated by the E _p. The same applies when the second motor fails and does not move.

Japanese Patent No. 3988898

On the other hand, based on the detected values E _f , E _f1 , and E _f2 , instead of the change amounts (change rates) ΔE _f , ΔE _f1 , and ΔE _{f2 of} the detected values E _f , E _f1 , and E _f2 , the gain G ₁ for the command value is set. , G ₂ can be calculated.

However, in this case, when the detection values E _f , E _f1 , and E _f2 are close to zero, the ratio of the detection values E _f , E _f1 , and E _{f2 to} noise is small. As a result, the gains G ₁ and G ₂ obtained based on E _f , E _f1 , and E _f2 close to zero may have a large error.

  Accordingly, an object of the present invention is to obtain a gain for a command value related to the first actuator based on the detected value of the driving amount of the first and second actuators and the detected value of the driving amount of the driven body, When the gain is obtained with respect to the command value related to the second actuator, the gain error is reduced when the drive amounts of the first and second actuators and the drive amount of the driven body are close to zero.

In order to achieve the above-described object, according to the present invention, the driven body is driven by an amount corresponding to the total of the first and second actuators, the driven body driven by them, and the driving amount of each actuator. And a power transmission mechanism that transmits the driving force of each actuator to the driven body,
A _first multiplier that outputs a value obtained by multiplying the generated total drive command value by a _first gain G1 as a _first drive command value;
A _second multiplier that outputs a value obtained by multiplying the total drive command value by the second gain G2 as a _second drive command value;
A first control unit that controls the first actuator based on the first drive command value;
A second control unit for controlling the second actuator based on the second drive command value;
A gain calculation unit for calculating the gains G ₁ and G ₂ ;
A first drive amount detector that detects a drive amount of the first actuator and outputs a value E _f1 indicating the detected value to the gain calculation unit;
A second drive amount detector that detects a drive amount of the second actuator and outputs a value E _f2 indicating the detected value to the gain calculation unit;
A total drive amount detector that detects a drive amount of the driven body and outputs a value E _f indicating the detected value to the gain calculation unit;
The gain calculation unit calculates the first gain G ₁ by a first gain calculation formula using E _f1 and E _f as variables, and calculates the first gain G ₁ by using a second gain calculation formula using E _f2 and E _f as variables. 2 gain G ₂ ,
When the drive device is normal, the first and second gain calculation formulas are set so that the first and _second gains G ₁ and G ₂ are halved regardless of the value of the variable. ,
E _f varies within the range from zero to the upper limit L _max ,
When E _f1 , E _f2, or E _f approaches zero, the gain calculation unit _brings the first gain G ₁ closer to (E _f1 −L _max / 2) / (E _f −L _max ) the gain _{G 2, (E f2 -L max} / 2) close to / (E _{f -L max),} the control device comprising is provided that.

により求められ、
この式において、Ｅ_{ｆ１ｍａｘ}は、第１および第２のアクチュエータが正常に動作している場合に、第１のアクチュエータの駆動量がとり得る最大値であり、Ｅ_{ｆ２ｍａｘ}は、第１および第２のアクチュエータが正常に動作している場合に、第２のアクチュエータの駆動量がとり得る最大値であり、Ｇ_１ＡＡとＧ_１ＢＢとＧ_２ＡＡとＧ_２ＢＢは、

により求められ、
この式において、Ｌ_ｍａｘは、理想的には、Ｅ_{ｆ１ｍａｘ}とＥ_{ｆ２ｍａｘ}との和に等しくなる。 According to a preferred embodiment of the present invention, the first and second gain calculation formulas are respectively

G ₁ = G _1A + G _1B
G ₂ = G _2A + G _2B

And
G _1A , G _1B , G _2A and G _2B in this formula are

Sought by
In this equation, E _f1max is the maximum value that the drive amount of the first actuator can take when the first and second actuators are operating normally, and E _f2max is the first and second values. When the actuator is operating normally, the drive amount of the second actuator can be the maximum value, and G _1AA , G _1BB , G _2AA, and G _2BB are

Sought by
In this equation, L _max is ideally equal to the sum of E _f1max and E _f2max .

As a result, the values of the first and second gains G ₁ and G ₂ gradually change according to changes in E _f , E _f1 , and E _f2 , so the first and second gains G ₁ and G ₂ are changed. Is calculated stably.
Further, since the numerators of the first and second gains G ₁ and G ₂ do not become close to zero in the gain calculation process over the entire area of E _f , E _f1 , and E _f2 , The error between the first and second gains G ₁ and G ₂ can be reduced.

According to a preferred embodiment of the present invention, a first state determination unit that determines whether the first actuator is operating normally;
A second state determination unit for determining whether the second actuator is operating normally,
When it is determined by the first and second state determination units that the first and second actuators are operating normally, the first multiplication unit calculates the first calculated by the gain calculation unit. the value obtained by multiplying the total drive command value gain G _1, and outputs a first drive command value, the second multiplier unit, a second gain G ₂ calculated by the gain calculation unit in the total drive command value The multiplied value is output as the second drive command value,
The first state judgment section, when the first actuator is determined to not operating, the second multiplying unit, the value is multiplied by a second gain G ₂ is a 1 to the total drive command value value Is output as the second drive command value,
The second state determination unit, when the second actuator is determined to not operating, first multiplication section, the value obtained by multiplying a first gain G ₁ is 1 the total drive command value value Is output as the first drive command value.

  Thereby, even if one actuator stops operating, the driven body can automatically operate according to the total drive command value.

According to a preferred embodiment of the present invention, the first state determination unit determines whether the first actuator is operating normally based on E _f1 and E _f ,
The second state determination unit determines whether the second actuator is operating normally based on E _f2 and E _f .

According to a preferred embodiment of the present invention, the total drive command value is the difference between the position command value E _p in the range from zero to the maximum value and E _f, and this difference is the first as the total drive command value. And input to the second multiplication unit,
further,
A failure detector for detecting a failure of the total drive amount detector;
When the failure detector detects a failure of the total drive amount detector, the signal value input to the first and second multipliers as the total drive command value is set to the difference between E _p and 2E _f1 , or E a signal value switching unit that _sets the difference between _p and 2E _f2 and fixes the first and second gains G ₁ and G ₂ input to the first and second multiplication units to ½.

According to another embodiment of the present invention, the total drive command value is a position command value E _p in the range from zero to a maximum value,
A first subtraction unit that receives the first drive command value output from the first multiplication unit and E _f1 and outputs the difference between the two input signal values to the first control unit;
A second subtraction unit that receives the second drive command value output from the second multiplication unit and E _f2 and outputs the difference between the two input signal values to the second control unit;
The first control unit controls the first actuator according to the difference between the first drive command value and E _f1, and the second control unit controls the difference between the second drive command value and E _f2. To control the second actuator according to
Furthermore, a failure detector for detecting a failure of the total drive amount detector is provided,
When the failure detector detects a failure of the total drive amount detector, the first and second gains G ₁ and G ₂ input to the first and second multipliers are fixed to ½.

According to the present invention described above, the detected value of the drive amount of the first actuator is E _f1 , the detected value of the drive amount of the driven body is E _f, and the upper limit value of E _f indicating the drive amount of the driven body is As L _max , when E _f1 , E _f2, or E _f approaches zero, the first gain G ₁ is brought close to (E _f1 −L _max / 2) / (E _f −L _max ). Accordingly, a first molecule of the gain _{G 1 (E f1 -L max /} 2) is not approach zero, and the first gain _{G 1} of the denominator _{(E f -L max)} is also not approach zero. Therefore, the ratio of (E _f1 −L _max / 2) and (E _f −L _max ) to noise can be kept high in the process of calculating the first gain G ₁ , and as a result, the first gain G ₁ The error can be reduced. Second gain _{G 2} is the same.

It is a figure for demonstrating the control of patent document 1. FIG. An example of the drive device used as the control object of the control apparatus by embodiment of this invention is shown. It is a block diagram of the control apparatus by embodiment of this invention. It is detail drawing of the control apparatus by embodiment of this invention. It is detail drawing of the control apparatus by the example of a change of this invention.

  A preferred embodiment of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

  The control device 10 according to the embodiment of the present invention controls the driving device 3. In the driving device 3, the driven body 9 is driven by an amount corresponding to the total of the driving amounts of the first and second actuators 5, 7, the driven body 9 driven by them, and the actuators 5, 7. And a power transmission mechanism 11 for transmitting the driving force of each actuator 5, 7 to the driven body 9.

An example of the drive device 3 will be described based on FIG.
Each actuator 5 and 7 is a motor in the example of FIG. The first motor 5 rotationally drives the driven body 9, and the second motor 7 rotationally drives the gear 13.
The driven body 9 has a large number of teeth meshing with the gear 15 on the outer peripheral surface. The gear 15 is fixed to the output shaft of the first motor 5. A through hole 9a through which the screw shaft 17 passes is formed in the center of the driven body 9 in the axial direction. A female screw into which the screw shaft 17 is screwed is cut on the inner peripheral surface of the through hole 9a. That is, the screw shaft 17 and the driven body 9 constitute a ball screw, and the driven body 9 corresponds to a nut of the ball screw.
The power transmission mechanism 11 includes gears 13 and 14, a screw shaft 17, and a gear 15. The gear 13 is fixed coaxially to the screw shaft 17. The gear 14 is fixed to the output shaft of the second motor 7 and meshes with the gear 13. By such a power transmission mechanism 11, the driven body 9 moves relative to the screw shaft 17 in the axial direction of the screw shaft 17 by an amount corresponding to the total drive amount of the first and second motors 5 and 7. Thus, the driving force of each motor 5, 7 is transmitted to the driven body 9. The screw shaft 17 may be rotatably supported by a member (not shown).

(In the example of FIG. 2, the reference point X of the driven member 9) driven body 9 is movable in the range of from one limit position P ₀ to the other limit position P _m.

  Such a driving device 3 may be used, for example, to change the direction of a nozzle or variable wing provided in an aircraft or a rocket. This nozzle generates propulsive force of the aircraft or rocket by ejecting combustion gas to the rear of the aircraft or rocket. The variable wings change the direction of the gas flow acting aerodynamically on the aircraft or rocket, thereby changing the direction of the force of the gas acting on the fuselage or adjusting the combustion performance of the engine.

  FIG. 3 shows the control device 10 of the drive device 3 according to an embodiment of the invention. FIG. 4 is a detailed view of FIG.

  The control device 10 includes a command value generation device 19, first and second multiplication units 21a and 21b, first and second control units 23a and 23b, and first and second state determination units 25a and 25b. And a gain calculation unit 27.

Command value generation unit 19 generates the total drive command value E _s.

The first multiplication unit 21a is a first value obtained by multiplying the gain G ₁ in the total drive command value E _s, and outputs a first drive command value as E ₁ on the first control unit 23a.
The second multiplication unit 21b is a value obtained by multiplying the second gain G ₂ in the total drive command value E _s, and outputs the second drive command value as E ₂ in the second control unit 23b.

The first controller 23a controls the first actuator 5 based on the _first drive command value E1. 3, in the example of FIG. 4, the first controller 23a drives the first actuator 5 by an amount the first drive command value E ₁ is shown.
The second control unit 23b controls the second actuator 7 based on the _second drive command value E2. 3, in the example of FIG. 4, the second control unit 23b drives the second actuator 7 by an amount indicating the second drive command value E _2.

The first state determination unit 25a determines whether the first actuator 5 is operating normally. In the present embodiment, the first state determination unit 25a performs the determination based on E _f1 and E _f . For example, the first state determination unit 25a indicates that the first actuator 5 is not operating when E _f1 / E _f is equal to or less than a threshold value less than 1/2. Judge. That is, the first state determination unit 25 a determines that the driven body 9 is not driven by the first actuator 5. In this case, E _f1 / E _f is input to the first state determination unit 25a from the first calculation unit 41, which will be described later, and the first state determination unit 25a determines the input E _f1 / E _f as described above. The determination is made by comparing the threshold value. On the other hand, when E _f1 / E _f is larger than the threshold value, the first state determination unit 25 a determines that the first actuator 5 is operating normally. The first state determination unit 25a may determine whether the first actuator 5 is operating normally by another method.

Similarly, the second state determination unit 25b determines whether the second actuator 7 is operating normally. In the present embodiment, the second state determination unit 25b performs the determination based on E _f2 and E _f . For example, the second state determination unit 25b determines that the second actuator 7 is not operating when E _f2 / E _f is equal to or smaller than a threshold value less than 1/2. Judge. That is, the second state determination unit 25 b determines that the driven body 9 is not driven by the second actuator 7. In this case, E _f2 / E _f is input to the second state determination unit 25b from a sixth calculation unit 46, which will be described later, and the second state determination unit 25b determines that the input E _f2 / E _f The determination is made by comparing the threshold value. On the other hand, when E _f2 / E _f is larger than the threshold value, the second state determination unit 25 b determines that the second actuator 7 is operating normally. Note that the second state determination unit 25b may determine whether the second actuator 7 is operating normally by another method.

The gain calculation unit 27 calculates the first and second gains G ₁ and G ₂ described above.

According to the present embodiment, the control device 10 further includes a first drive amount detector 29a, a second drive amount detector 29b, and a total drive amount detector 31.
The first drive amount detector 29 a detects the drive amount of the first actuator 5 and outputs a value E _f1 indicating the detected value to the gain calculation unit 27.
The second drive amount detector 29 b detects the drive amount of the second actuator 7 and outputs a value E _f2 indicating the detected value to the gain calculation unit 27.
The total drive amount detector 31 detects the drive amount of the driven body 9 and outputs a value E _f indicating the detected value to the gain calculation unit 27. In the example of FIG. 2, E _f changes within a range from zero indicating the limit position P ₀ to an upper limit value L _max indicating the limit position P _m . That is, when E _f is zero, the driven body 9 is positioned at the limit position P ₀ , and when E _f is the upper limit value L _max , the driven body 9 is positioned at the limit position P _m. Yes.
E _f1 and E _f2 indicate the amount (actuated amount) that the actuators 5 and 7 are driven from the initial position, respectively. E _f indicates the amount that the actuator 5 is driven from the initial position, and the actuator 7 is the initial value. Shows the amount and sum driven from position. When the drive device 3 is normal, the sum of E _f1 and E _f2 is equal to E _f .

When the first and second state determination units 25a and 25b determine that the first and second actuators 5 and 7 are operating normally, the gain calculation unit 27 determines that E _f1 and E the first gain calculation formula in which the _f as a variable, the first calculated gain G _1, the second gain calculation equation in which the E _f2 and E _f the variable, calculates a second gain G _2. The first and second gains G ₁ and G ₂ are halved when the drive device 3 is normal and E _f1 , E _f2 , E _f, etc. are not affected by noise. A second gain calculation formula is set. Thus, 1/2 of the total drive command value _{E s} is input to the first control unit 23a and the second control unit 23b, the first controller 23a and the second control unit 23b, respectively, total drive command value _{E s} drives the ½ first and second actuators 5 and 7 of the amount indicated. As a result, by an amount corresponding to the total drive command value E _s driven body 9 is driven.

The first state determination unit 25a, when the first actuator 5 is determined not to work, the switch 39d, a second value of the gain G ₂ to be input to the second multiplier 21b 1 To. Thus, the second multiplication unit 21b, the value is a value obtained by multiplying the second gain G ₂ is a 1 to the total drive command value E _s, and outputs the second drive command value as E _2.

Similarly, the second state determination unit 25b, when the second actuator 7 is determined not to work, the switch 39 b, a first gain G ₁ to be input to the first multiplication unit 21a Set the value to 1. Thus, a first multiplication unit 21a, the value a value obtained by multiplying the first gain G ₁ is 1 the total drive command value E _s, and outputs a first drive command value as E _1.

According to this embodiment, the gain calculation unit 27 calculates the first and second gains G ₁ and G ₂ so as to satisfy the following (A) and (B).
(A) a gain calculation unit _27, when the E _{f1, E f2} or _{E f} is close to zero, the first gain _{G 1,} the _{(E f1 -L max / 2)} / (E f -L max) closer, the second gain _{G 2,} close to the _{(E f2 -L max / 2)} / (E f -L max). When E _f1 is close to zero, the first molecule of the gain _{G 1 (E f1 -L max /} 2) is not approach zero, and the first gain _{G 1} of the denominator _{(E f -L max)} also Keep away from zero. Therefore, it is possible to maintain a high first ratio of the gain G ₁ against noise. Second gain _{G 2} is the same.
(B) On the other hand, the gain calculation unit 27, when the total drive command value _{E s} is close to the upper limit value, close the first gain _{G 1} in _E f1 / _{E f,} the second gain _{G 2 E f2} / _Close to E _f .

により求める。
この式において、Ｅ_{ｆ１ｍａｘ}は、第１および第２のアクチュエータ５，７が正常に動作している場合に、第１のアクチュエータ５の駆動量がとり得る最大値であり、Ｅ_{ｆ２ｍａｘ}は、第１および第２のアクチュエータ５，７が正常に動作している場合に、第２のアクチュエータ７の駆動量がとり得る最大値であり、Ｇ_１ＡＡとＧ_１ＢＢとＧ_２ＡＡとＧ_２ＢＢとを

により求める。
この式において、Ｌ_ｍａｘは、理想的には、Ｅ_{ｆ１ｍａｘ}とＥ_{ｆ２ｍａｘ}との和に等しくなる。なお、Ｌ_ｍａｘは、被駆動体９を限界位置Ｐ_ｍに移動させるための後述する位置指令値Ｅ_Ｐにも等しい。ここで、「理想的には」とは、Ｅ_{ｆ１ｍａｘ}やＥ_{ｆ２ｍａｘ}に誤差が生じておらず、Ｅ_{ｆ１ｍａｘ}やＥ_{ｆ２ｍａｘ}がノイズの影響を受けていないことをいう。この誤差とは、駆動装置３による誤差（例えば、機械的な誤差）や、制御装置１０による誤差である。 Preferably, the first and second gain calculation formulas are set so as to satisfy (A) and (B). In the present embodiment, the first and second gain calculation formulas are respectively

G ₁ = G _1A + G _1B
G ₂ = G _2A + G _2B

It is.
G _1A , G _1B , G _2A and G _2B in this equation are

Ask for.
In this equation, E _f1max is the maximum value that the drive amount of the first actuator 5 can take when the first and second actuators 5 and 7 are operating normally, and E _f2max is the first value When the second actuators 5 and 7 are operating normally, the drive amount of the second actuator 7 is the maximum value that can be taken, and G _1AA , G _1BB , G _2AA, and G _2BB are

Ask for.
In this equation, L _max is ideally equal to the sum of E _f1max and E _f2max . Note that L _max is also equal to a position command value E _P described later for moving the driven body 9 to the limit position P _m . Here, the _"ideally", the error has not occurred in the _{E f1max} and _{E f2max,} say _{that E f1max} and _{E f2max} is not affected by the noise. This error is an error (for example, a mechanical error) caused by the driving device 3 or an error caused by the control device 10.

When G ₁ and G ₂ are calculated by G _1A , G _1B , G _2A , and G _2B described above, when the first and second actuators 5 and 7 are operating normally, the following (a) (b ) (C)
(A) When G _1A , G _1B , G _2A and G _2B are not affected by noise, G ₁ and G ₂ are halved. This is because E _f = 2E _f1 = 2E _f2 and L _max = 2E _f1max = 2E _f2max .
(B) When E _f1 , E _f2 or E _f approaches zero, the first gain G ₁ approaches (E _f1 −L _max / 2) / (E _f −L _max ), and the second gain G _{1 is} closer to _{(E f2 -L max / 2)} / (E f -L max).
(C) When E _f approaches the upper limit value, the first gain G ₁ approaches E _f1 / E _f , and the second gain G ₂ approaches E _f2 / E _f .

Note that when the control device 10 is activated, the first and second gains G ₁ and G ₂ may have an initial value of ½.

According to the present embodiment, the command value generation device 19 includes a position command unit 33, a first subtraction unit 35a, and a second subtraction unit 35b.
The position command unit 33 outputs a position command value E _P within a range from zero to the maximum value. In the example of FIG. 2, when the zero position command value E _P is output, the control device 10 positions the driven body 9 at the limit position P ₀ described above, and the upper limit position command value E _P. There when it is output, the control unit 10, the driven member 9, to control the driven body 9 so as to be positioned above the limit position P _m.
E _P and E _f are input to the first subtraction unit 35a. The first subtractor 35a outputs the difference between the two input signal values (E _P and E _f ) to the first multiplier 21a as the above-described total drive command value E _S.
E _P and E _f are also input to the second subtractor 35b. The second subtracting unit 35b is the difference of the two input signal values _{(E P} and _{E f),} and outputs as the total drive command value _{E S} above the second multiplication unit 21b.

  The control device 10 further includes a failure detector 37 and a signal value switching unit 39.

The failure detector 37 detects a failure of the total drive amount detector 31. When the failure detector 37 detects a failure of the total drive amount detector 31, the failure detector 37 outputs a signal _Sb to that effect to the signal value switching unit 39.
The signal value switching unit 39 includes a first switch 39a, a second switch 39b, a third switch 39c, and a fourth switch 39d.

When the failure detector 37 does not detect a failure of the total drive amount detector 31, the signal value switching unit 39 inputs E _f to the first subtraction unit 35a as described above by the first switching unit 39a. Then, G ₁ input to the first multiplier 21 a is changed to the value G ₁ calculated by the gain calculator 27 as described above by the second switch 39 b, and as described above by the third switch 39 c. E _f is input to the second subtractor 35b, and G ₄ input to the second multiplier 21b as described above is set to the value G ₂ calculated by the gain calculator 27 by the fourth switch 39d. Therefore, as described above, the first multiplication unit 21a outputs a value obtained by multiplying (E _p −E _f ) by G ₁ calculated by the gain calculation unit 27 to the first control unit 23a, and the second As described above, the multiplication unit 21b outputs a value obtained by multiplying G ₂ calculated by the gain calculation unit 27 by (E _p −E _f ) to the second control unit 23b.
However, if the value _{G 1} from the gain calculation unit 27, a 1/2 value less than the second switch 39b is fixed a _{G 1} to be input to the first multiplication unit 21a to 1/2 and, the value G ₁ from the gain calculation unit 27, when a value greater than 1, the second switch 39b is a G ₁ to be input to the first multiplication unit 21a is fixed to 1, the gain calculated the value _{G 2} from the section 27, in the case of 1/2 value less than the fourth switch 39d is to secure the _{G 2} to be input to the second multiplication unit 21b to 1/2, gain calculation the value G ₂ from the section 27, when a value greater than 1, the fourth switch 39d is advisable to secure the G ₂ to be input to the second multiplication unit 21b to 1.

On the other hand, when the failure detector 37 detects a failure of the total drive amount detector 31, a signal S _{b to} that effect is input to the signal value switching unit 39. Thereby, the signal value switching unit 39 changes the value input to the first subtraction unit 35a from E _f to 2E _f1 by the first switch 39a, and the first multiplication by the second switch 39b. the _{G 1} to be input to the section 21a is fixed to 1/2, the third switch 39c, the value to be input to the second subtracting unit 35b and change the _{2E f2} from _{E f,} the fourth switch 39d , to secure the _{G 2} to be input to the second multiplication unit 21b to 1/2. Accordingly, the first multiplication unit 21a outputs a value obtained by multiplying (E _p −2E _f1 ) by 1/2 to the first control unit 23a, and the second multiplication unit 21b outputs (E _p −2E _f2). ) Multiplied by ½ is output to the second controller 23b.

  The gain calculation unit 27 includes first to tenth calculation units 41 to 50.

First arithmetic unit 41, the _{E f1} inputted from the first drive amount detector 29a, based on the _{E f} inputted from the total drive amount detector 31, and calculates the above-mentioned _{G 1AA.}
Second arithmetic unit 42, the _{E f1} inputted from the first drive amount detector 29a, based on the _{E f} inputted from the total drive amount detector 31, and calculates the aforementioned _{G 1BB.}
The third calculating unit 43 calculates the above-described G _1A based on G _1AA input from the first calculating unit 41 and E _f1 input from the first drive amount detector 29a.
The fourth calculation unit 44 calculates the above-described G _1B based on G _1BB input from the second calculation unit 42 and E _f1 input from the first driving amount detector 29a. .
The fifth calculation unit 45 is a gain that is the sum of G _1A and G _1B based on G _1A input from the third calculation unit 43 and G _1B input from the fourth calculation unit 44. to calculate the G _1.
Calculation unit 46 of the sixth and _{E f2} inputted from the second drive amount detector 29 b, on the basis of the _{E f} inputted from the total drive amount detector 31, and calculates the aforementioned _{G 2AA.}
Computing section 47 of the seventh, and _{E f2} inputted from the second drive amount detector 29 b, on the basis of the _{E f} inputted from the total drive amount detector 31, and calculates the aforementioned _{G 2BB.}
The eighth calculation unit 48 calculates the above-described G _2A based on G _2AA input from the sixth calculation unit 46 and E _f2 input from the second drive amount detector 29b.
The ninth calculation unit 49 calculates the above-described G _2B based on G _2BB input from the seventh calculation unit 47 and E _f2 input from the second driving amount detector 29b.
The tenth arithmetic unit 50 is a gain that is the sum of G _2A and G _2B based on G _2A input from the eighth arithmetic unit 48 and G _2B input from the ninth arithmetic unit 49. to calculate the G _2.

Preferably, the control device 10 includes first to fourth limiters 53a, 53b, 53c, and 53d.
The first limiter 53a limits G _1AA calculated by the first calculation unit 41 to a range from 1/2 to 1. That is, the first limiter 53a, when _{G 1AA} the first arithmetic unit 41 calculated is less than 1/2 value, a fixed _{G 1AA} to 1/2 to the third arithmetic unit 43 When G _1AA calculated by the first calculation unit 41 is greater than 1, G _1AA fixed to 1 is input to the third calculation unit 43, and the first calculation unit 41 When the calculated G _1AA is equal to or greater than ½ and equal to or less than 1, this G _1AA is input to the third arithmetic unit 43 as it is.
Similarly, the second, third, and fourth limiters 53b, 53c, 53d are values G _1BB , G _2AA , G _2BB calculated by the second, sixth, and seventh arithmetic units 42, 46, ₄₇ , _{respectively.} Is limited to a value between 1/2 and 1.

Such a limiter can eliminate a state in which G _1AA , G _1BB , G _2AA , and G _2BB have values that are theoretically impossible due to noise.

  The present invention is not limited to the above-described embodiment, and various changes can be made without departing from the scope of the present invention. For example, any one of the following modification examples 1 to 4 may be employed, or modification examples 1 to 4 may be arbitrarily combined and employed. In this case, the points not described below may be the same as described above.

(Modification 1)
The first gain calculation formula may be E _f1 / E _f , and the second gain calculation formula may be E _f2 / E _f . In this case, when E _f1 , E _f2, or E _f approaches zero, the gain calculation unit 27 changes the first gain calculation formula to (E _f1 −L _max / 2) / (E _f −L _max ). The second gain calculation formula is switched to (E _f2 −L _max / 2) / (E _f −L _max ).

(Modification 2)
As shown in FIG. 5, the command value generator 19, a position command value E _p in the range from zero to a maximum value, it may be constituted by the position command section 33 for outputting as a total drive command value. In this case, the control device 10 may be configured as follows.

The first multiplication unit 21a is a first value obtained by multiplying the gain G ₁ in the total drive command value E _p, and outputs a first drive command value. The first drive command value and E _f1 output from the first multiplier 21a are input to the first subtractor 35a. The first subtractor 35a outputs the difference between the two input signal values to the first controller 23a. The first control unit 23a controls the first actuator 5 according to the difference between the first drive command value and E _f1 .

The second multiplier 21b outputs a value obtained by multiplying the total drive command value _Ep by the second gain G2 as a _second drive command value. The second drive command value and E _f2 output from the second multiplier 21b are input to the second subtractor 35b. The second subtractor 35b outputs the difference between both input signal values to the second controller 23b. The second control unit 23b controls the second actuator 7 according to the difference between the second drive command value and E _f2 .

When the first state determination unit 25a determines that the first actuator 5 is not operating, the second subtraction unit 35b receives the second drive command value output from the second multiplication unit 21b. And E _f are input. When the second state determination unit 25b determines that the second actuator 7 is not operating, the first drive command value output from the first multiplication unit 21a is sent to the first subtraction unit 35a. And E _f are input.

  The first and third switching devices 39a and 39c are omitted, and the failure detector 37 functions as follows.

When the failure detector 37 does not detect a failure of the total drive amount detector 31, E _f1 is input to the first subtractor 35a, and the first multiplier 39b as described above is input by the second switch 39b. the _{G 1} to be input to the value _{G 1} of the gain calculating section 27 has calculated _{21a, E f2} is input to the second subtracting unit 35b, the fourth switch 39d, a second multiplication unit 21b, as described above the gain calculating unit 27 the G ₂ to be input to a value G ₂ calculated for. Therefore, as described above, the first multiplication unit 21a outputs the value obtained by multiplying E _p by G ₁ calculated by the gain calculation unit 27 to the first subtraction unit 35a, and the first subtraction unit 35a (G ₁ × E _p −E _f1 ) is output to the first control unit 23a, and the second multiplication unit 21b is a value obtained by multiplying E _p by G ₂ calculated by the gain calculation unit 27 as described above. Is output to the second subtractor 35b, and the second subtractor 35b outputs (G ₂ × E _p −E _f2 ) to the second controller 23b.

On the other hand, when the failure detector 37 detects a failure of the total drive amount detector 31, a signal S _{b to} that effect is input to the signal value switching unit 39. Thus, the signal value switching section 39, the second switch 39 b, a _{G 1} to be input to the first multiplication unit 21a is fixed to 1/2, the fourth switch 39d, a second multiplier the _{G 2} to be input to the 21b fixed to 1/2. At this time, E _f1 is input to the first subtractor 35a, and E _f2 is input to the second subtractor 35b.
Accordingly, the first multiplication unit 21a outputs a value obtained by multiplying E _p by 1/2 to the first subtraction unit 35a, and the first subtraction unit 35a outputs (E _p / 2−E _f1 ). output to the first control unit 23a, a second multiplication unit 21b, as described above, and outputs a value obtained by multiplying 1/2 to the _{E p} to the second subtracting unit 35b, a second subtracting unit 35b is , (E _p / 2-E _f2 ) is output to the second control unit 23b.

(Modification 3)
In the configuration described above with reference to FIGS. 2, 3, and 4, the position command unit 33 is a component of the control device 10. However, the position command unit 33 is not a component of the control device 10, but a control unit. It may be provided outside the apparatus 10. That is, the command value generation device 19 of the control device 10 may not have the position command unit 33. In this case, the position command unit 33 outputs the position command value _Ep to the first and second subtraction units 35a and 35b of the command value generation device 19 by wireless or wired.

(Modification 4)
In the second modification described above with reference to FIG. 5, the position command unit 33 (that is, the command value generation device 19) is a component of the control device 10, but the position command unit 33 is a component of the control device 10. It may be provided outside the control device 10 instead of the element. In this case, the position command unit 33 outputs the position command value _Ep to the first and second multiplication units 21a and 21b by wireless or wired.

DESCRIPTION OF SYMBOLS 3 Drive apparatus, 5 1st actuator (motor), 7 2nd actuator (motor), 9 Driven body, 9a Through hole, 10 Control apparatus, 11 Power transmission mechanism, 13, 14, 15 Gear, 17 Screw shaft , 19 Command value generator, 21a 1st multiplication unit, 21b 2nd multiplication unit, 23a 1st control unit, 23b 2nd control unit, 25a 1st state judgment unit, 25b 2nd state judgment unit 27 gain calculation unit, 29a first drive amount detector, 29b second drive amount detector, 31 total drive amount detector, 33 position command unit, 35a first subtraction unit, 35b second subtraction unit, 37 failure detector, 39 signal value switching unit, 39a first switching unit, 39b second switching unit, 39c third switching unit, 39d fourth switching unit, 41-50 first to tenth calculation units 53a, 53b, 4c, 54d limiter, 61 first motor, 63 second motor, 65a first multiplication unit, 65b second multiplication unit, 67a first subtraction unit, 67b second subtraction unit, 69a first control Part, 69b 2nd control part

Claims (6)

The driving force of each actuator is applied to the driven body so that the driven body is driven by an amount corresponding to the sum of the driving amounts of the first and second actuators, the driven body driven by them, and the driving amount of each actuator. A power transmission mechanism for transmitting, and a control device for a drive device comprising:
A _first multiplier that outputs a value obtained by multiplying the generated total drive command value by a _first gain G1 as a _first drive command value;
A _second multiplier that outputs a value obtained by multiplying the total drive command value by the second gain G2 as a _second drive command value;
A first control unit that controls the first actuator based on the first drive command value;
A second control unit for controlling the second actuator based on the second drive command value;
A gain calculation unit for calculating the gains G ₁ and G ₂ ;
A first drive amount detector that detects a drive amount of the first actuator and outputs a value E _f1 indicating the detected value to the gain calculation unit;
A second drive amount detector that detects a drive amount of the second actuator and outputs a value E _f2 indicating the detected value to the gain calculation unit;
A total drive amount detector that detects a drive amount of the driven body and outputs a value E _f indicating the detected value to the gain calculation unit;
The gain calculation unit calculates the first gain G ₁ by a first gain calculation formula using E _f1 and E _f as variables, and calculates the first gain G ₁ by using a second gain calculation formula using E _f2 and E _f as variables. 2 gain G ₂ ,
When the drive device is normal, the first and second gain calculation formulas are set so that the first and _second gains G ₁ and G ₂ are halved regardless of the value of the variable. ,
E _f varies within the range from zero to the upper limit L _max ,
When E _f1 , E _f2, or E _f approaches zero, the gain calculation unit _brings the first gain G ₁ closer to (E _f1 −L _max / 2) / (E _f −L _max ) of the gain _{G 2, (E f2 -L max} / 2) / close to (E _{f -L max),} the control device, characterized in that. The first and second gain calculation formulas are respectively

G ₁ = G _1A + G _1B
G ₂ = G _2A + G _2B

And
G _1A , G _1B , G _2A and G _2B in this formula are

Sought by
In this equation, E _f1max is the maximum value that the drive amount of the first actuator can take when the first and second actuators are operating normally, and E _f2max is the first and second values. When the actuator is operating normally, the drive amount of the second actuator can be the maximum value, and G _1AA , G _1BB , G _2AA, and G _2BB are

Sought by
2. The control device according to claim 1, wherein L _max is ideally equal to a sum of E _f1max and E _f2max in this equation. A first state determination unit for determining whether the first actuator is operating normally;
A second state determination unit for determining whether the second actuator is operating normally,
When it is determined by the first and second state determination units that the first and second actuators are operating normally, the first multiplication unit calculates the first calculated by the gain calculation unit. the value obtained by multiplying the total drive command value gain G _1, and outputs a first drive command value, the second multiplier unit, a second gain G ₂ calculated by the gain calculation unit in the total drive command value The multiplied value is output as the second drive command value,
The first state judgment section, when the first actuator is determined to not operating, the second multiplying unit, the value is multiplied by a second gain G ₂ is a 1 to the total drive command value value Is output as the second drive command value,
The second state determination unit, when the second actuator is determined to not operating, first multiplication section, the value obtained by multiplying a first gain G ₁ is 1 the total drive command value value Is output as a first drive command value. The control device according to claim 1, wherein: The first state determination unit determines whether the first actuator is operating normally based on E _f1 and E _f ,
The control device according to claim 3, wherein the second state determination unit determines whether the second actuator is operating normally based on E _f2 and E _f . Total drive command value is set to the position command value E _p in the range of up to a maximum value from zero, the difference between E _f, the difference is input as the total drive command value to the first and second multiplication section ,
further,
A failure detector for detecting a failure of the total drive amount detector;
When the failure detector detects a failure of the total drive amount detector, the signal value input to the first and second multipliers as the total drive command value is set to the difference between E _p and 2E _f1 , or E a signal value switching unit that _sets the difference between _p and 2E _f2 and fixes the first and second gains G ₁ and G ₂ input to the first and second multiplication units to ½. The control apparatus according to any one of claims 1 to 4, wherein Total drive command value is a position command value E _p in the range from zero to a maximum value,
A first subtraction unit that receives the first drive command value output from the first multiplication unit and E _f1 and outputs the difference between the two input signal values to the first control unit;
A second subtraction unit that receives the second drive command value output from the second multiplication unit and E _f2 and outputs the difference between the two input signal values to the second control unit;
The first control unit controls the first actuator according to the difference between the first drive command value and E _f1, and the second control unit controls the difference between the second drive command value and E _f2. To control the second actuator according to
Furthermore, a failure detector for detecting a failure of the total drive amount detector is provided,
When the failure detector detects a failure of the total drive amount detector, the first and second gains G ₁ and G ₂ input to the first and second multipliers are fixed to ½. The control device according to any one of claims 1 to 4, wherein

Images